/usr/include/ros/master.h is in libroscpp-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (C) 2009, Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_MASTER_H
#define ROSCPP_MASTER_H
#include "forwards.h"
#include "xmlrpcpp/XmlRpcValue.h"
#include "common.h"
namespace ros
{
/**
* \brief Contains functions which allow you to query information about the master
*/
namespace master
{
/** @brief Execute an XMLRPC call on the master
*
* @param method The RPC method to invoke
* @param request The arguments to the RPC call
* @param response [out] The resonse that was received.
* @param payload [out] The payload that was received.
* @param wait_for_master Whether or not this call should loop until it can contact the master
*
* @return true if call succeeds, false otherwise.
*/
ROSCPP_DECL bool execute(const std::string& method, const XmlRpc::XmlRpcValue& request, XmlRpc::XmlRpcValue& response, XmlRpc::XmlRpcValue& payload, bool wait_for_master);
/** @brief Get the hostname where the master runs.
*
* @return The master's hostname, as a string
*/
ROSCPP_DECL const std::string& getHost();
/** @brief Get the port where the master runs.
*
* @return The master's port.
*/
ROSCPP_DECL uint32_t getPort();
/**
* \brief Get the full URI to the master (eg. http://host:port/)
*/
ROSCPP_DECL const std::string& getURI();
/** @brief Check whether the master is up
*
* This method tries to contact the master. You can call it any time
* after ros::init has been called. The intended usage is to check
* whether the master is up before trying to make other requests
* (subscriptions, advertisements, etc.).
*
* @returns true if the master is available, false otherwise.
*/
ROSCPP_DECL bool check();
/**
* \brief Contains information retrieved from the master about a topic
*/
struct ROSCPP_DECL TopicInfo
{
TopicInfo() {}
TopicInfo(const std::string& _name, const std::string& _datatype /*, const std::string& _md5sum*/)
: name(_name)
, datatype(_datatype)
//, md5sum(_md5sum)
{}
std::string name; ///< Name of the topic
std::string datatype; ///< Datatype of the topic
// not possible yet unfortunately (master does not have this information)
//std::string md5sum; ///< md5sum of the topic
};
typedef std::vector<TopicInfo> V_TopicInfo;
/** @brief Get the list of topics that are being published by all nodes.
*
* This method communicates with the master to retrieve the list of all
* currently advertised topics.
*
* @param topics A place to store the resulting list. Each item in the
* list is a pair <string topic, string type>. The type is represented
* in the format "package_name/MessageName", and is also retrievable
* through message.__getDataType() or MessageName::__s_getDataType().
*
* @return true on success, false otherwise (topics not filled in)
*/
ROSCPP_DECL bool getTopics(V_TopicInfo& topics);
/**
* \brief Retreives the currently-known list of nodes from the master
*/
ROSCPP_DECL bool getNodes(V_string& nodes);
/**
* @brief Set the max time this node should spend looping trying to connect to the master
* @param The timeout. A negative value means infinite
*/
ROSCPP_DECL void setRetryTimeout(ros::WallDuration timeout);
} // namespace master
} // namespace ros
#endif
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